Robot applications against gravity

Balaguer, Carlos; Virk, G.S.; Armada, Manuel

doi:10.1109/mra.2006.1598045

Cited by 17 publications

(8 citation statements)

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“…The two main characteristics within these robots are the adhesion mechanism and the locomotion principle. According to [2], the most common adhesion mechanisms are magnetism [3]- [12], vacuum suction [13]- [15], and specific attachment devices such as rails [16] or pegs and grippers/clamps [17]. Current research is also done in exploiting other adhesion principles such as patterned elastomers, hairy structures [18] or arrays of micro spines [19].…”

Section: A Wall Climbing Robotsmentioning

confidence: 99%

Inspection system for very thin and fragile surfaces, based on a pair of wall climbing robots with magnetic wheels

Fischer

Tache

Siegwart

2007

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

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-this paper describes a pair of wall climbing robots that use magnetic wheels for adhesion. They are designed for inspecting the interior surfaces of gas-tanks in oversea ships. Environments like this were impossible to access by previous climbing robots, as they are made out of very thin sheet metal that cannot support a high robot mass and contain several types of difficult obstacles.In order to master these challenges, the system described in this work uses two robots in a "mother-child"-structure: The smaller robot is built very lightweight and simple, without the ability to steer or climb vertically. It just moves horizontally and uses ridges in the gas tank surface as guidance rails. In order to pass from one ridge to the next one, the smaller robot docks to the bigger "mother"-robot. This robot always stays in an area where the sheet metal is thicker and never enters the extremely fragile surfaces. Thus, its mass is not critical for the structural stability of the environment and the robot can hence be built big enough to be able to climb in all directions of gravity and to pass difficult obstacles along its path.In the present paper, the basic concept, the mechanical design of all important components and the proposed control strategy are described briefly, followed by test results of the most critical components. An outlook to similar applications to which the basic idea of this work can be successfully transferred concludes this article.

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Section: A Wall Climbing Robotsmentioning

confidence: 99%

Inspection system for very thin and fragile surfaces, based on a pair of wall climbing robots with magnetic wheels

Fischer

Tache

Siegwart

2007

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…In some configuration the robot is able to one room to another. The main disadvantage is the complex control against the gravity and the security of good grasping to the wall [12].…”

Section: Figure 9 Common Home Layout (By Smartdrawcom)mentioning

confidence: 99%

Towards Robotic Smart Home

Balaguer

2007

Automation and Robotics in Construction &Amp;#8213; Proceedings of the 24th International Symposium on Automation and Robotics

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The nowadays smart homes try to move from conventional remote-controlled houses to intelligent environments. The focus has been made in blending high-tech computing into the home environment and in substituting the interaction with a box on a table by different friendly & intelligent HMI devices. Nevertheless, the introduction of real robots in home environment isn't treated yet. How will be the new smart homes with robots moving among their inhabitants? This type of homes, called robotic smart homes, will be very different of the conventional smart ones. The paper deals with the state-of-the-art of personal home robots and with the homes design in which these robots will move. One of the key issues is the analysis of the nowadays home space and the adaptation of the robots' locomotion system for them. Several types of robots (mobile, climbing and bipedal) together with the new home and rooms structure have been analyzed, together with the smart homes control system.

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“…1 Other than mobile robots that move on the ground with wheels or legs, climbing robots possess the unique characteristic of sustaining their bodies against gravity while moving in 3D environments. 2 As such, the following requirements should be observed to design climbing robots. 3 Lightness of weight, which is followed by low energy consumption, to increase the autonomy and payload of the auxiliary equipment.…”

Section: Introductionmentioning

confidence: 99%

A survey of climbing robots: Locomotion and adhesion

Chu

Jung

Han

et al. 2010

Int. J. Precis. Eng. Manuf.

206

105

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Climbing robots are robotic systems to move over 2D or complex 3D environments such as walls, ceilings, roofs, and geometric structures and to conduct various tasks. They will not only replace human workers for carrying out risky tasks in hazardous environments, but also increase operational efficiency by eliminating the costly erection of scaffolding and staffing costs. Climbing robots have special characteristics and the ability to adhere to different types of 2D or 3D surfaces, move around, and carry appropriate tools and sensors to work, while self-sustaining their bodies. Therefore, the most significant criterion for designing a climbing robot is to equip it with an appropriate locomotive and adhesion mechanism for adapting to the given environmental requirements. In this paper, a classification of climbing robots and proper examples with a brief outline are presented with considerations of the locomotive and adhesion mechanisms. Also, a list of climbing robots is provided with respect to fields of application that range from cleaning tasks in the construction industry to human care systems in the biomedical service industry.

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Robot applications against gravity

Cited by 17 publications

References 0 publications

Inspection system for very thin and fragile surfaces, based on a pair of wall climbing robots with magnetic wheels

Inspection system for very thin and fragile surfaces, based on a pair of wall climbing robots with magnetic wheels

Towards Robotic Smart Home

A survey of climbing robots: Locomotion and adhesion

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